SANTOS™ hand: A 25 degree-of-freedom model

Esteban Peña Pitarch; Jingzhou Yang; Karim Abdel-Malek

doi:10.4271/2005-01-2727

SANTOS^™ hand: A 25 degree-of-freedom model

Esteban Peña Pitarch, Jingzhou Yang, Karim Abdel-Malek

Mechanical Engineering

Research output: Contribution to journal › Conference article › peer-review

13 Scopus citations

Abstract

This paper presents a SANTOS^™ 25 degree-of-freedom (DOF) hand model and the forward and inverse kinematic analysis. The Denavit-Hartenberg (D-H) method is used to define the position of the end- effector (fingertip). In the SANTOS^™ hand model each finger has different constraints and movements (e.g., the middle finger in distal Interphalangeal (DIP) joint can move in Flexion/Extension (F/E) with a range 0-100 degrees, and the thumb in interphalangeal (IP) joint can rotate in F/E with arrange of 15H/80). Including hand model SANTOS^™ has over 100 DOFs and the forward and inverse kinematics have been studied. Optimization-based dynamic motion prediction will be used to consider different gestures for hand grasping.

Original language	English
Journal	SAE Technical Papers
DOIs	https://doi.org/10.4271/2005-01-2727
State	Published - 2005
Event	Digital Human Modeling for Design and Engineering Symposium - Iowa City, IA, United States Duration: Jun 14 2005 → Jun 16 2005

Keywords

Keywords forward and inverse kinematics
grasping
hand model
virtual environment

Access to Document

10.4271/2005-01-2727

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@article{b3cc06afbc1341848f1636598fb19273,

title = "SANTOS{\texttrademark} hand: A 25 degree-of-freedom model",

abstract = "This paper presents a SANTOS{\texttrademark} 25 degree-of-freedom (DOF) hand model and the forward and inverse kinematic analysis. The Denavit-Hartenberg (D-H) method is used to define the position of the end- effector (fingertip). In the SANTOS{\texttrademark} hand model each finger has different constraints and movements (e.g., the middle finger in distal Interphalangeal (DIP) joint can move in Flexion/Extension (F/E) with a range 0-100 degrees, and the thumb in interphalangeal (IP) joint can rotate in F/E with arrange of 15H/80). Including hand model SANTOS{\texttrademark} has over 100 DOFs and the forward and inverse kinematics have been studied. Optimization-based dynamic motion prediction will be used to consider different gestures for hand grasping.",

keywords = "Keywords forward and inverse kinematics, grasping, hand model, virtual environment",

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AU - Pitarch, Esteban Peña

AU - Yang, Jingzhou

AU - Abdel-Malek, Karim

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N2 - This paper presents a SANTOS™ 25 degree-of-freedom (DOF) hand model and the forward and inverse kinematic analysis. The Denavit-Hartenberg (D-H) method is used to define the position of the end- effector (fingertip). In the SANTOS™ hand model each finger has different constraints and movements (e.g., the middle finger in distal Interphalangeal (DIP) joint can move in Flexion/Extension (F/E) with a range 0-100 degrees, and the thumb in interphalangeal (IP) joint can rotate in F/E with arrange of 15H/80). Including hand model SANTOS™ has over 100 DOFs and the forward and inverse kinematics have been studied. Optimization-based dynamic motion prediction will be used to consider different gestures for hand grasping.

AB - This paper presents a SANTOS™ 25 degree-of-freedom (DOF) hand model and the forward and inverse kinematic analysis. The Denavit-Hartenberg (D-H) method is used to define the position of the end- effector (fingertip). In the SANTOS™ hand model each finger has different constraints and movements (e.g., the middle finger in distal Interphalangeal (DIP) joint can move in Flexion/Extension (F/E) with a range 0-100 degrees, and the thumb in interphalangeal (IP) joint can rotate in F/E with arrange of 15H/80). Including hand model SANTOS™ has over 100 DOFs and the forward and inverse kinematics have been studied. Optimization-based dynamic motion prediction will be used to consider different gestures for hand grasping.

KW - Keywords forward and inverse kinematics

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